mrpt_localization.cpp

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/***********************************************************************************
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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#include <mrpt_localization/mrpt_localization.h>
#include <mrpt_localization/mrpt_localization_defaults.h>

#include <mrpt_bridge/map.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/CSimplePointsMap.h>
using mrpt::maps::COccupancyGridMap2D;
using mrpt::maps::CSimplePointsMap;

#include <mrpt/system/filesystem.h>
#include <mrpt/opengl/CEllipsoid.h>
#include <mrpt/opengl/CPointCloud.h>

#include <thread>
#include <chrono>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::opengl;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace mrpt::bayes;
using namespace mrpt::poses;
using namespace std;

#include <mrpt/version.h>
using namespace mrpt::maps;
using namespace mrpt::obs;

#if MRPT_VERSION >= 0x199
using namespace mrpt::img;
using namespace mrpt::config;
#else
using namespace mrpt::utils;
#endif

PFLocalization::~PFLocalization() {}
PFLocalization::PFLocalization(Parameters* param)
        : PFLocalizationCore(), param_(param)
{
}

void PFLocalization::init()
{
        log_info("ini_file ready %s", param_->ini_file.c_str());
        ASSERT_FILE_EXISTS_(param_->ini_file);
        log_info("ASSERT_FILE_EXISTS_ %s", param_->ini_file.c_str());
        CConfigFile ini_file;
        ini_file.setFileName(param_->ini_file);
        log_info("CConfigFile %s", param_->ini_file.c_str());

        std::vector<int>
                particles_count;  // Number of initial particles (if size>1, run
        // the experiments N times)

        // Load configuration:
        // -----------------------------------------
        string iniSectionName("LocalizationExperiment");
        update_counter_ = 0;

        // Mandatory entries:
        ini_file.read_vector(
                iniSectionName, "particles_count", std::vector<int>(1, 0),
                particles_count,
                /*Fail if not found*/ true);

        if (param_->map_file.empty())
        {
                param_->map_file = ini_file.read_string(iniSectionName, "map_file", "");
        }

        // Non-mandatory entries:
        SCENE3D_FREQ_ = ini_file.read_int(iniSectionName, "3DSceneFrequency", 10);
        SCENE3D_FOLLOW_ =
                ini_file.read_bool(iniSectionName, "3DSceneFollowRobot", true);

        SHOW_PROGRESS_3D_REAL_TIME_ =
                ini_file.read_bool(iniSectionName, "SHOW_PROGRESS_3D_REAL_TIME", false);
        SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_ = ini_file.read_int(
                iniSectionName, "SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS", 1);

#if !MRPT_HAS_WXWIDGETS
        SHOW_PROGRESS_3D_REAL_TIME_ = false;
#endif

        // Default odometry uncertainty parameters in "odom_params_default_"
        // depending on how fast the robot moves, etc...
        //  Only used for observations-only rawlogs:
        motion_model_default_options_.modelSelection =
                CActionRobotMovement2D::mmGaussian;

        motion_model_default_options_.gaussianModel.minStdXY =
                ini_file.read_double("DummyOdometryParams", "minStdXY", 0.04);
        motion_model_default_options_.gaussianModel.minStdPHI = DEG2RAD(
                ini_file.read_double("DefaultOdometryParams", "minStdPHI", 2.0));

        // Read initial particles distribution; fail if any parameter is not found
        init_PDF_mode =
                ini_file.read_bool(iniSectionName, "init_PDF_mode", false, true);
        init_PDF_min_x =
                ini_file.read_float(iniSectionName, "init_PDF_min_x", 0, true);
        init_PDF_max_x =
                ini_file.read_float(iniSectionName, "init_PDF_max_x", 0, true);
        init_PDF_min_y =
                ini_file.read_float(iniSectionName, "init_PDF_min_y", 0, true);
        init_PDF_max_y =
                ini_file.read_float(iniSectionName, "init_PDF_max_y", 0, true);
        float min_phi = DEG2RAD(
                ini_file.read_float(iniSectionName, "init_PDF_min_phi_deg", -180));
        float max_phi = DEG2RAD(
                ini_file.read_float(iniSectionName, "init_PDF_max_phi_deg", 180));
        mrpt::poses::CPose2D p;
        mrpt::math::CMatrixDouble33 cov;
        cov(0, 0) = fabs(init_PDF_max_x - init_PDF_min_x);
        cov(1, 1) = fabs(init_PDF_max_y - init_PDF_min_y);
        cov(2, 2) =
                min_phi < max_phi ? max_phi - min_phi : (max_phi + 2 * M_PI) - min_phi;
        p.x() = init_PDF_min_x + cov(0, 0) / 2.0;
        p.y() = init_PDF_min_y + cov(1, 1) / 2.0;
        p.phi() = min_phi + cov(2, 2) / 2.0;
        log_debug(
                "----------- phi: %4.3f: %4.3f <-> %4.3f, %4.3f\n", p.phi(), min_phi,
                max_phi, cov(2, 2));
        initial_pose_ = mrpt::poses::CPosePDFGaussian(p, cov);
        state_ = INIT;

        configureFilter(ini_file);
        // Metric map options:

        if (!mrpt_bridge::MapHdl::loadMap(
                        metric_map_, ini_file, param_->map_file, "metricMap",
                        param_->debug))
        {
                waitForMap();
        }

        initial_particle_count_ = *particles_count.begin();

        if (param_->gui_mrpt) init3DDebug();
}

void PFLocalization::configureFilter(const CConfigFile& _configFile)
{
        // PF-algorithm Options:
        // ---------------------------
        CParticleFilter::TParticleFilterOptions pfOptions;
        pfOptions.loadFromConfigFile(_configFile, "PF_options");
        pfOptions.dumpToConsole();

        // PDF Options:
        // ------------------
        TMonteCarloLocalizationParams pdfPredictionOptions;
        pdfPredictionOptions.KLD_params.loadFromConfigFile(
                _configFile, "KLD_options");

        pdf_.clear();

        // PDF Options:
        pdf_.options = pdfPredictionOptions;

        pdf_.options.metricMap = &metric_map_;

        // Create the PF object:
        pf_.m_options = pfOptions;
}

void PFLocalization::init3DDebug()
{
        log_info("init3DDebug");
        if (!SHOW_PROGRESS_3D_REAL_TIME_) return;
        if (!win3D_)
        {
                win3D_ = CDisplayWindow3D::Create(
                        "pf-localization - The MRPT project", 1000, 600);
                win3D_->setCameraZoom(20);
                win3D_->setCameraAzimuthDeg(-45);
                // win3D_->waitForKey();

                // Create the 3D scene and get the map only once, later we'll modify
                // only the particles, etc..
                COccupancyGridMap2D::TEntropyInfo grid_info;
                // The gridmap:
#if MRPT_VERSION >= 0x199
                if (metric_map_.countMapsByClass<COccupancyGridMap2D>())
                {
                        metric_map_.mapByClass<COccupancyGridMap2D>()->computeEntropy(
                                grid_info);
                }
#else
                if (metric_map_.m_gridMaps.size())
                {
                        metric_map_.m_gridMaps[0]->computeEntropy(grid_info);
                }
#endif
                else
                {
                        grid_info.effectiveMappedArea = (init_PDF_max_x - init_PDF_min_x) *
                                                                                        (init_PDF_max_y - init_PDF_min_y);
                }
                log_info(
                        "The gridmap has %.04fm2 observed area, %u observed cells\n",
                        grid_info.effectiveMappedArea,
                        (unsigned)grid_info.effectiveMappedCells);
                log_info(
                        "Initial PDF: %f particles/m2\n",
                        initial_particle_count_ / grid_info.effectiveMappedArea);

                auto plane = CSetOfObjects::Create();
                metric_map_.getAs3DObject(plane);
                scene_.insert(plane);

                if (SHOW_PROGRESS_3D_REAL_TIME_)
                {
                        COpenGLScene::Ptr ptr_scene = win3D_->get3DSceneAndLock();

                        ptr_scene->insert(plane);

                        ptr_scene->enableFollowCamera(true);

                        win3D_->unlockAccess3DScene();
                }
        }  // Show 3D?
        if (param_->debug)
                log_info(" --------------------------- init3DDebug done \n");
        if (param_->debug) fflush(stdout);
}

void PFLocalization::show3DDebug(CSensoryFrame::Ptr _observations)
{
        // Create 3D window if requested:
        if (SHOW_PROGRESS_3D_REAL_TIME_)
        {
                TTimeStamp cur_obs_timestamp = INVALID_TIMESTAMP;
                if (_observations->size() > 0)
                        cur_obs_timestamp =
                                _observations->getObservationByIndex(0)->timestamp;

#if MRPT_VERSION >= 0x199
                const auto [cov, meanPose] = pdf_.getCovarianceAndMean();
#else
                CPose2D meanPose;
                CMatrixDouble33 cov;
                pdf_.getCovarianceAndMean(cov, meanPose);
#endif

                COpenGLScene::Ptr ptr_scene = win3D_->get3DSceneAndLock();

                win3D_->setCameraPointingToPoint(meanPose.x(), meanPose.y(), 0);
                win3D_->addTextMessage(
                        10, 10,
                        mrpt::format(
                                "timestamp: %s",
                                cur_obs_timestamp != INVALID_TIMESTAMP
                                        ? mrpt::system::dateTimeLocalToString(cur_obs_timestamp)
                                                  .c_str()
                                        : "(none)"),
                        TColorf(.8f, .8f, .8f), "mono", 15, mrpt::opengl::NICE, 6001);

                win3D_->addTextMessage(
                        10, 33,
                        mrpt::format(
                                "#particles= %7u", static_cast<unsigned int>(pdf_.size())),
                        TColorf(.8f, .8f, .8f), "mono", 15, mrpt::opengl::NICE, 6002);

                win3D_->addTextMessage(
                        10, 55,
                        mrpt::format(
                                "mean pose (x y phi_deg)= %s", meanPose.asString().c_str()),
                        TColorf(.8f, .8f, .8f), "mono", 15, mrpt::opengl::NICE, 6003);

                // The particles:
                {
                        CRenderizable::Ptr parts = ptr_scene->getByName("particles");
                        if (parts) ptr_scene->removeObject(parts);

                        CSetOfObjects::Ptr p = pdf_.getAs3DObject<CSetOfObjects::Ptr>();
                        p->setName("particles");
                        ptr_scene->insert(p);
                }

                // The particles' cov:
                {
                        CRenderizable::Ptr ellip = ptr_scene->getByName("parts_cov");
                        if (!ellip)
                        {
                                auto o = CEllipsoid::Create();
                                ellip = o;
                                ellip->setName("parts_cov");
                                ellip->setColor(1, 0, 0, 0.6);

                                o->setLineWidth(2);
                                o->setQuantiles(3);
                                o->set2DsegmentsCount(60);
                                ptr_scene->insert(ellip);
                        }
                        ellip->setLocation(meanPose.x(), meanPose.y(), 0.05);
#if MRPT_VERSION >= 0x199
                        dynamic_cast<CEllipsoid*>(ellip.get())->setCovMatrix(cov, 2);
#else
#endif
                }

                // The laser scan:
                {
                        CRenderizable::Ptr scan_pts = ptr_scene->getByName("scan");
                        if (!scan_pts)
                        {
                                auto o = CPointCloud::Create();
                                scan_pts = o;
                                scan_pts->setName("scan");
                                scan_pts->setColor(1, 0, 0, 0.9);
                                o->enableColorFromZ(false);
                                o->setPointSize(4);
                                ptr_scene->insert(scan_pts);
                        }

                        CSimplePointsMap map;
                        static CSimplePointsMap last_map;

                        CPose3D robot_pose_3D(meanPose);

                        map.clear();
                        _observations->insertObservationsInto(&map);

                        dynamic_cast<CPointCloud*>(scan_pts.get())
                                ->loadFromPointsMap(&last_map);
                        dynamic_cast<CPointCloud*>(scan_pts.get())->setPose(robot_pose_3D);
                        last_map = map;
                }

                // The camera:
                ptr_scene->enableFollowCamera(true);

                // Views:
                COpenGLViewport::Ptr view1 = ptr_scene->getViewport("main");
                {
                        CCamera& cam = view1->getCamera();
                        cam.setAzimuthDegrees(-90);
                        cam.setElevationDegrees(90);
                        cam.setPointingAt(meanPose);
                        cam.setZoomDistance(5);
                        cam.setOrthogonal();
                }

                win3D_->unlockAccess3DScene();

                // Move camera:
                // win3D_->setCameraPointingToPoint( curRobotPose.x, curRobotPose.y,
                // curRobotPose.z );

                // Update:
                win3D_->forceRepaint();

                std::this_thread::sleep_for(
                        std::chrono::milliseconds(SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_));
        }
}